相关论文: Learning to SLAM on the Fly in Unknown Environment…

Aerial navigation in GPS-denied, indoor environments, is still an open challenge. Drones can perceive the environment from a richer set of viewpoints, while having more stringent compute and energy constraints than other autonomous…

Simultaneous localization and mapping (SLAM) remains challenging for a number of downstream applications, such as visual robot navigation, because of rapid turns, featureless walls, and poor camera quality. We introduce the Differentiable…

As the foundation of driverless vehicle and intelligent robots, Simultaneous Localization and Mapping(SLAM) has attracted much attention these days. However, non-geometric modules of traditional SLAM algorithms are limited by data…

Robots operating in the open world encounter various different environments that can substantially differ from each other. This domain gap also poses a challenge for Simultaneous Localization and Mapping (SLAM) being one of the fundamental…

This paper addresses the problem of enabling a robot to search for a semantic object, i.e., an object with a semantic label, in an unknown and GPS-denied environment. For the robot in the unknown environment to detect and find the target…

The Simultaneous Localization and Mapping (SLAM) problem addresses the possibility of a robot to localize itself in an unknown environment and simultaneously build a consistent map of this environment. Recently, cameras have been…

Visual Simultaneous Localization and Mapping (vSLAM) is a widely used technique in robotics and computer vision that enables a robot to create a map of an unfamiliar environment using a camera sensor while simultaneously tracking its…

A robust and efficient Simultaneous Localization and Mapping (SLAM) system is essential for robot autonomy. For visual SLAM algorithms, though the theoretical framework has been well established for most aspects, feature extraction and…

We proposed an end-to-end deep learning-based simultaneous localization and mapping (SLAM) system following conventional visual odometry (VO) pipelines. The proposed method completes the SLAM framework by including tracking, mapping, and…

Autonomous visual navigation is an essential element in robot autonomy. Reinforcement learning (RL) offers a promising policy training paradigm. However existing RL methods suffer from high sample complexity, poor sim-to-real transfer, and…

Simultaneous Localization And Mapping (SLAM) is a task to estimate the robot location and to reconstruct the environment based on observation from sensors such as LIght Detection And Ranging (LiDAR) and camera. It is widely used in robotic…

Simultaneous localization and mapping (SLAM) with implicit neural representations has received extensive attention due to the expressive representation power and the innovative paradigm of continual learning. However, deploying such a…

Enabling fully autonomous robots capable of navigating and exploring large-scale, unknown and complex environments has been at the core of robotics research for several decades. A key requirement in autonomous exploration is building…

This work proposes a first-of-its-kind SLAM architecture fusing an event-based camera and a Frequency Modulated Continuous Wave (FMCW) radar for drone navigation. Each sensor is processed by a bio-inspired Spiking Neural Network (SNN) with…

According to the rapid development of drone technologies, drones are widely used in many applications including military domains. In this paper, a novel situation-aware DRL- based autonomous nonlinear drone mobility control algorithm in…

We present an uncertainty learning framework for dense neural simultaneous localization and mapping (SLAM). Estimating pixel-wise uncertainties for the depth input of dense SLAM methods allows re-weighing the tracking and mapping losses…

Deep visual Simultaneous Localization and Mapping (SLAM) techniques, e.g., DROID, have made significant advancements by leveraging deep visual odometry on dense flow fields. In general, they heavily rely on global visual similarity…

Simultaneous localisation and mapping (SLAM) is the problem of autonomous robots to construct or update a map of an undetermined unstructured environment while simultaneously estimate the pose in it. The current trend towards self-driving…

The safe operation of drone swarms beyond visual line of sight requires multiple safeguards to mitigate the risk of collision between drones flying in close-proximity scenarios. Cooperative navigation and flight coordination strategies that…

Determining the position and orientation of a sensor vis-a-vis its surrounding, while simultaneously mapping the environment around that sensor or simultaneous localization and mapping is quickly becoming an important advancement in…